按推荐建议，继续执行

结论：继续按 LinuxCNC 源码直接复用路线推进，新增 SCARA 运动学源码的 vendored 同步、switchkins native 探针、source probe 覆盖和复用文档，并通过 native 验证。

wasm-port/docs/source-reuse-map.md

@@ -38,7 +38,7 @@ Current validation is intentionally mechanical:
 | Identity/trivial kinematics | `src/emc/kinematics/kinematics.h`, `cubic.h`, `kins_util.c`, `trivkins.c` | Copy unchanged | HAL component lifecycle and RTAPI module metadata are replaced by standalone shims; forward/inverse mapping behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_kinematics_probe` |
 | Switchable 5-axis bridge kinematics | `src/emc/kinematics/5axiskins.c`, `switchkins.c`, `switchkins.h`, `userkfuncs.c`, plus `src/rtapi/rtapi_ctype.h` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; switchable 5-axis forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_5axis_kinematics_probe` |
 | TRT table-rotary kinematics | `src/emc/kinematics/trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c` | Copy unchanged | HAL pin allocation and switchkins lifecycle stay runtime boundaries; XYZAC/XYZBC TRT forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_xyzac_trt_kinematics_probe`, `linuxcnc_xyzbc_trt_kinematics_probe` |
-| Additional non-switchable kinematics | `src/emc/kinematics/corexykins.c`, `rotatekins.c`, `rosekins.c`, `maxkins.c`, `lineardeltakins.c`, `lineardeltakins-common.h`, `rotarydeltakins.c`, `rotarydeltakins-common.h`, `scorbot-kins.c`, `tripodkins.c` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_corexy_kinematics_probe`, `linuxcnc_rotate_kinematics_probe`, `linuxcnc_rose_kinematics_probe`, `linuxcnc_max_kinematics_probe`, `linuxcnc_lineardelta_kinematics_probe`, `linuxcnc_rotarydelta_kinematics_probe`, `linuxcnc_scorbot_kinematics_probe`, `linuxcnc_tripod_kinematics_probe` |
+| Additional non-switchable kinematics | `src/emc/kinematics/corexykins.c`, `rotatekins.c`, `rosekins.c`, `maxkins.c`, `lineardeltakins.c`, `lineardeltakins-common.h`, `rotarydeltakins.c`, `rotarydeltakins-common.h`, `scorbot-kins.c`, `tripodkins.c`, `scarakins.c` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_corexy_kinematics_probe`, `linuxcnc_rotate_kinematics_probe`, `linuxcnc_rose_kinematics_probe`, `linuxcnc_max_kinematics_probe`, `linuxcnc_lineardelta_kinematics_probe`, `linuxcnc_rotarydelta_kinematics_probe`, `linuxcnc_scorbot_kinematics_probe`, `linuxcnc_tripod_kinematics_probe`, `linuxcnc_scara_kinematics_probe` |
 | Trajectory planner | `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, `spherical_arc.c`, `blendmath.c`, `sp_scurve.c`, `ruckig_wrapper.c`, plus matching `*.h` files | Copy unchanged | Native realtime scheduling and motion process state are replaced by standalone probe setup | Vendor byte sync, per-file source probes, `linuxcnc_tp_api_probe` |
 | Ruckig C planner support | Selected `src/emc/tp/cruckig/*.c` and `*.h` files in the manifest | Copy unchanged | Used as LinuxCNC planner support code through vendored TP sources | Vendor byte sync, per-file source probes |
 | Posemath | `src/libnml/posemath/posemath.cc`, `_posemath.c`, `gomath.c`, `sincos.c`, and matching headers | Copy unchanged | `gomath.c` is compiled as C; `rtapi.h` shim is C/C++ compatible for this boundary | Vendor byte sync, per-file source probes, TP probe |
@@ -63,8 +63,7 @@ Current validation is intentionally mechanical:
 ## Known Gaps
 
 - Additional non-trivial kinematics implementation files, including serial,
-  SCARA, hexapod, puma, and other machine-specific modules, are not yet
+  hexapod, puma, and other machine-specific modules, are not yet extracted.
-  extracted.
 - Browser/WASM C ABI and JS SDK layers are not yet built for the full
   interpreter/planner core.
 - OPFS persistence is not yet connected to INI, tool table, parameter file, or

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_scara_kinematics_probe.cpp

@@ -0,0 +1,101 @@
+#include <cmath>
+#include <iostream>
+
+#include "emc/kinematics/kinematics.h"
+#include "emc/motion/emcmotcfg.h"
+
+int rtapi_app_main(void);
+void rtapi_app_exit(void);
+
+namespace {
+
+int near(double actual, double expected)
+{
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+int near_joints(const double *actual, const double *expected)
+{
+    for (int index = 0; index < 6; ++index) {
+        if (!near(actual[index], expected[index])) {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+int near_identity_pose(const EmcPose &actual, const double *joints)
+{
+    return near(actual.tran.x, joints[0]) &&
+           near(actual.tran.y, joints[1]) &&
+           near(actual.tran.z, joints[2]) &&
+           near(actual.a, joints[3]) &&
+           near(actual.b, joints[4]) &&
+           near(actual.c, joints[5]);
+}
+
+void print_pose(const char *prefix, const EmcPose &pose)
+{
+    std::cout << prefix << "_xyz="
+              << pose.tran.x << ","
+              << pose.tran.y << ","
+              << pose.tran.z << "\n";
+    std::cout << prefix << "_abc="
+              << pose.a << ","
+              << pose.b << ","
+              << pose.c << "\n";
+}
+
+void print_joints(const char *prefix, const double *joints)
+{
+    std::cout << prefix << "_xyzabc="
+              << joints[0] << ","
+              << joints[1] << ","
+              << joints[2] << ","
+              << joints[3] << ","
+              << joints[4] << ","
+              << joints[5] << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const int init_rc = rtapi_app_main();
+    std::cout << "scara_init=" << init_rc << "\n";
+    std::cout << "scara_type=" << kinematicsType() << "\n";
+    std::cout << "scara_switchable=" << kinematicsSwitchable() << "\n";
+
+    double joints[EMCMOT_MAX_JOINTS]{};
+    joints[0] = 20.0;
+    joints[1] = 110.0;
+    joints[2] = 30.0;
+    joints[3] = 15.0;
+    joints[4] = 4.0;
+    joints[5] = 5.0;
+
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    EmcPose forward_pose{};
+    const int forward_rc = kinematicsForward(joints, &forward_pose, &fflags, &iflags);
+    std::cout << "scara_forward=" << forward_rc << "\n";
+    std::cout << "scara_forward_iflags=" << iflags << "\n";
+    print_pose("scara_forward", forward_pose);
+
+    double inverse_joints[EMCMOT_MAX_JOINTS]{};
+    const int inverse_rc = kinematicsInverse(&forward_pose, inverse_joints, &iflags, &fflags);
+    std::cout << "scara_inverse=" << inverse_rc << "\n";
+    print_joints("scara_inverse", inverse_joints);
+    std::cout << "scara_roundtrip_joints=" << near_joints(inverse_joints, joints) << "\n";
+
+    const int switch_rc = kinematicsSwitch(1);
+    std::cout << "scara_switch_identity=" << switch_rc << "\n";
+    EmcPose identity_pose{};
+    const int identity_forward_rc = kinematicsForward(joints, &identity_pose, &fflags, &iflags);
+    std::cout << "scara_identity_forward=" << identity_forward_rc << "\n";
+    print_pose("scara_identity", identity_pose);
+    std::cout << "scara_identity_near=" << near_identity_pose(identity_pose, joints) << "\n";
+
+    rtapi_app_exit();
+    return 0;
+}

wasm-port/tests/native/verify_native_probes.sh

@@ -103,6 +103,8 @@ check_exitcode linuxcnc_scorbot_kinematics_probe
 check_exitcode linuxcnc_scorbot_kinematics_probe.run
 check_exitcode linuxcnc_tripod_kinematics_probe
 check_exitcode linuxcnc_tripod_kinematics_probe.run
+check_exitcode linuxcnc_scara_kinematics_probe
+check_exitcode linuxcnc_scara_kinematics_probe.run
 for name in \
   linuxcnc_tp_tp_source_probe \
   linuxcnc_tp_tc_source_probe \
@@ -159,6 +161,7 @@ check_exitcode linuxcnc_lineardeltakins_source_probe
 check_exitcode linuxcnc_rotarydeltakins_source_probe
 check_exitcode linuxcnc_scorbot_kins_source_probe
 check_exitcode linuxcnc_tripodkins_source_probe
+check_exitcode linuxcnc_scarakins_source_probe
 check_exitcode linuxcnc_interp_convert_source_probe
 check_exitcode linuxcnc_interp_read_source_probe
 check_exitcode linuxcnc_interp_check_source_probe
@@ -357,6 +360,18 @@ grep -Fq "tripod_inverse_below_flags=1" "$TRIPOD_KINEMATICS_STDOUT"
 grep -Fq "tripod_forward_below=0" "$TRIPOD_KINEMATICS_STDOUT"
 grep -Fq "tripod_roundtrip_below_xyz=1" "$TRIPOD_KINEMATICS_STDOUT"
 
+SCARA_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stdout.log"
+grep -Fq "scara_init=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_type=4" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_switchable=1" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_forward=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_forward_iflags=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_inverse=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_roundtrip_joints=1" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_switch_identity=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_identity_forward=0" "$SCARA_KINEMATICS_STDOUT"
+grep -Fq "scara_identity_near=1" "$SCARA_KINEMATICS_STDOUT"
+
 check_fixture_output() {
   local fixture="$1"
   local expected="$2"

wasm-port/tools/build_native_probes.sh

@@ -430,6 +430,15 @@ TRIPOD_KINEMATICS_PROBE_SOURCES=(
   "$WRAP_DIR/linuxcnc_tripod_kinematics_probe.cpp"
 )
 
+SCARA_KINEMATICS_PROBE_SOURCES=(
+  "$VENDOR_DIR/src/emc/kinematics/kins_util.c"
+  "$VENDOR_DIR/src/emc/kinematics/switchkins.c"
+  "$VENDOR_DIR/src/emc/kinematics/userkfuncs.c"
+  "$VENDOR_DIR/src/emc/kinematics/scarakins.c"
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_scara_kinematics_probe.cpp"
+)
+
 TP_CORE_SOURCES=(
   "$VENDOR_DIR/src/emc/tp/tp.c"
   "$VENDOR_DIR/src/emc/tp/tc.c"
@@ -687,6 +696,13 @@ build_binary_target \
   TRIPOD_KINEMATICS_PROBE_SOURCES \
   NO_LINK_FLAGS
 
+build_binary_target \
+  linuxcnc_scara_kinematics_probe \
+  "$BUILD_DIR/linuxcnc_scara_kinematics_probe" \
+  TP_FLAGS \
+  SCARA_KINEMATICS_PROBE_SOURCES \
+  NO_LINK_FLAGS
+
 if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_kinematics_probe.exitcode")" == "0" ]]; then
   set +e
   "$BUILD_DIR/linuxcnc_kinematics_probe" \
@@ -867,6 +883,21 @@ else
     "$BUILD_DIR/linuxcnc_tripod_kinematics_probe.run.stderr.log"
 fi
 
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_scara_kinematics_probe.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_scara_kinematics_probe" \
+    >"$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stderr.log"
+  SCARA_KINEMATICS_RUN_RC=$?
+  set -e
+  echo "$SCARA_KINEMATICS_RUN_RC" > "$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stderr.log"
+fi
+
 if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_tp_api_probe.exitcode")" == "0" ]]; then
   set +e
   "$BUILD_DIR/linuxcnc_tp_api_probe" \
@@ -1061,6 +1092,12 @@ build_object_target \
   "$VENDOR_DIR/src/emc/kinematics/tripodkins.c" \
   TP_FLAGS
 
+build_object_target \
+  linuxcnc_scarakins_source_probe \
+  "$BUILD_DIR/linuxcnc_scarakins_source_probe.o" \
+  "$VENDOR_DIR/src/emc/kinematics/scarakins.c" \
+  TP_FLAGS
+
 build_object_target \
   linuxcnc_interp_convert_source_probe \
   "$BUILD_DIR/linuxcnc_interp_convert_source_probe.o" \

wasm-port/tools/source-manifest.txt

@@ -50,6 +50,7 @@ src/emc/kinematics/rotarydeltakins-common.h
 src/emc/kinematics/rotarydeltakins.c
 src/emc/kinematics/scorbot-kins.c
 src/emc/kinematics/tripodkins.c
+src/emc/kinematics/scarakins.c
 src/emc/tp/tp.h
 src/emc/tp/tp_types.h
 src/emc/tp/tc.h

wasm-port/vendor/linuxcnc/src/emc/kinematics/scarakins.c

@@ -0,0 +1,238 @@
+/*****************************************************************
+* Description: scarakins.c
+*   Kinematics for scara typed robots
+*   Set the params using HAL to fit your robot
+*
+*   Derived from a work by Sagar Behere
+*
+* Author: Sagar Behere
+* License: GPL Version 2
+* System: Linux
+*
+* Copyright (c) 2003 All rights reserved.
+*
+* Last change:
+*******************************************************************
+*/
+
+#include <rtapi.h>
+#include <rtapi_math.h>
+#include <rtapi_string.h>
+#include <hal.h>
+#include <kinematics.h>
+
+#include "switchkins.h"
+
+struct scara_data {
+    hal_float_t *d1, *d2, *d3, *d4, *d5, *d6;
+} *haldata = 0;
+
+/* key dimensions
+
+   joint[0] = Entire arm rotates around a vertical axis at its inner end
+                which is attached to the earth.  A value of zero means the
+                inner arm is pointing along the X axis.
+   D1 = Vertical distance from the ground plane to the center of the inner
+                arm.
+   D2 = Horizontal distance between joint[0] axis and joint[1] axis, ie.
+                the length of the inner arm.
+   joint[1] = Outer arm rotates around a vertical axis at its inner end
+                which is attached to the outer end of the inner arm.  A
+                value of zero means the outer arm is parallel to the
+                inner arm (and extending outward).
+   D3 = Vertical distance from the center of the inner arm to the center
+                of the outer arm.  May be positive or negative depending
+                on the structure of the robot.
+   joint[2] = End effector slides along a vertical axis at the outer end
+                of the outer arm.  A value of zero means the end effector
+                is at the same height as the center of the outer arm, and
+                positive values mean downward movement.
+   D4 = Horizontal distance between joint[1] axis and joint[2] axis, ie.
+                the length of the outer arm
+   joint[3] = End effector rotates around the same vertical axis that it
+                slides along.  A value of zero means that the tooltip (if
+                offset from the axis) is pointing in the same direction
+                as the centerline of the outer arm.
+   D5 = Vertical distance from the end effector to the tooltip.  Positive
+                means the tooltip is lower than the end effector, and is
+                the normal case.
+   D6 = Horizontal distance from the centerline of the end effector (and
+                the joints 2 and 3 axis) and the tooltip.  Zero means the
+                tooltip is on the centerline.  Non-zero values should be
+                positive, if negative they introduce a 180 degree offset
+                on the value of joint[3].
+*/
+
+#define D1 (*(haldata->d1))
+#define D2 (*(haldata->d2))
+#define D3 (*(haldata->d3))
+#define D4 (*(haldata->d4))
+#define D5 (*(haldata->d5))
+#define D6 (*(haldata->d6))
+
+/* joint[0], joint[1] and joint[3] are in degrees and joint[2] is in length units */
+static
+int scaraKinematicsForward(const double * joint,
+                      EmcPose * world,
+                      const KINEMATICS_FORWARD_FLAGS * fflags,
+                      KINEMATICS_INVERSE_FLAGS * iflags)
+{
+    (void)fflags;
+    double a0, a1, a3;
+    double x, y, z, c;
+
+/* convert joint angles to radians for sin() and cos() */
+
+    a0 = joint[0] * ( PM_PI / 180 );
+    a1 = joint[1] * ( PM_PI / 180 );
+    a3 = joint[3] * ( PM_PI / 180 );
+/* convert angles into world coords */
+
+    a1 = a1 + a0;
+    a3 = a3 + a1;
+
+    x = D2*cos(a0) + D4*cos(a1) + D6*cos(a3);
+    y = D2*sin(a0) + D4*sin(a1) + D6*sin(a3);
+    z = D1 + D3 - joint[2] - D5;
+    c = a3;
+
+    *iflags = 0;
+    if (joint[1] < 90)
+        *iflags = 1;
+
+    world->tran.x = x;
+    world->tran.y = y;
+    world->tran.z = z;
+    world->c = c * 180 / PM_PI;
+
+    world->a = joint[4];
+    world->b = joint[5];
+
+    return (0);
+} //scaraKinematicsForward()
+
+static int scaraKinematicsInverse(const EmcPose * world,
+                                  double * joint,
+                                  const KINEMATICS_INVERSE_FLAGS * iflags,
+                                  KINEMATICS_FORWARD_FLAGS * fflags)
+{
+    double a3;
+    double q0, q1;
+    double xt, yt, rsq, cc;
+    double x, y, z, c;
+
+    x = world->tran.x;
+    y = world->tran.y;
+    z = world->tran.z;
+    c = world->c;
+
+    /* convert degrees to radians */
+    a3 = c * ( PM_PI / 180 );
+
+    /* center of end effector (correct for D6) */
+    xt = x - D6*cos(a3);
+    yt = y - D6*sin(a3);
+
+    /* horizontal distance (squared) from end effector centerline
+        to main column centerline */
+    rsq = xt*xt + yt*yt;
+    /* joint 1 angle needed to make arm length match sqrt(rsq) */
+    cc = (rsq - D2*D2 - D4*D4) / (2*D2*D4);
+    if(cc < -1) cc = -1;
+    if(cc > 1) cc = 1;
+    q1 = acos(cc);
+
+    if (*iflags)
+        q1 = -q1;
+
+    /* angle to end effector */
+    q0 = atan2(yt, xt);
+
+    /* end effector coords in inner arm coord system */
+    xt = D2 + D4*cos(q1);
+    yt = D4*sin(q1);
+
+    /* inner arm angle */
+    q0 = q0 - atan2(yt, xt);
+
+    /* q0 and q1 are still in radians. convert them to degrees */
+    q0 = q0 * (180 / PM_PI);
+    q1 = q1 * (180 / PM_PI);
+
+    joint[0] = q0;
+    joint[1] = q1;
+    joint[2] = D1 + D3 - D5 - z;
+    joint[3] = c - ( q0 + q1);
+    joint[4] = world->a;
+    joint[5] = world->b;
+
+    *fflags = 0;
+
+    return (0);
+} // scaraKinematicsInverse()
+
+#define DEFAULT_D1 490
+#define DEFAULT_D2 340
+#define DEFAULT_D3  50
+#define DEFAULT_D4 250
+#define DEFAULT_D5  50
+#define DEFAULT_D6  50
+
+static int scaraKinematicsSetup(const  int   comp_id,
+                                const  char* coordinates,
+                                kparms*      kp)
+{
+    (void)coordinates;
+    int res=0;
+
+    haldata = hal_malloc(sizeof(*haldata));
+    if (!haldata) goto error;
+
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d1), comp_id,"%s.D1",kp->halprefix);
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d2), comp_id,"%s.D2",kp->halprefix);
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d3), comp_id,"%s.D3",kp->halprefix);
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d4), comp_id,"%s.D4",kp->halprefix);
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d5), comp_id,"%s.D5",kp->halprefix);
+    res += hal_pin_float_newf(HAL_IN, &(haldata->d6), comp_id,"%s.D6",kp->halprefix);
+    if (res) { goto error; }
+
+    D1 = DEFAULT_D1;
+    D2 = DEFAULT_D2;
+    D3 = DEFAULT_D3;
+    D4 = DEFAULT_D4;
+    D5 = DEFAULT_D5;
+    D6 = DEFAULT_D6;
+
+    return 0;
+
+error:
+    return -1;
+} // scaraKinematicsSetup()
+
+int switchkinsSetup(kparms* kp,
+                    KS* kset0, KS* kset1, KS* kset2,
+                    KF* kfwd0, KF* kfwd1, KF* kfwd2,
+                    KI* kinv0, KI* kinv1, KI* kinv2
+                   )
+{
+    kp->kinsname    = "scarakins"; // !!! must agree with filename
+    kp->halprefix   = "scarakins"; // hal pin names
+    kp->required_coordinates = "xyzabc"; // ab are scaragui table tilts
+    kp->allow_duplicates     = 0;
+    kp->max_joints = strlen(kp->required_coordinates);
+
+    rtapi_print("\n!!! switchkins-type 0 is %s\n",kp->kinsname);
+    *kset0 = scaraKinematicsSetup;
+    *kfwd0 = scaraKinematicsForward;
+    *kinv0 = scaraKinematicsInverse;
+
+    *kset1 = identityKinematicsSetup;
+    *kfwd1 = identityKinematicsForward;
+    *kinv1 = identityKinematicsInverse;
+
+    *kset2 = userkKinematicsSetup;
+    *kfwd2 = userkKinematicsForward;
+    *kinv2 = userkKinematicsInverse;
+
+    return 0;
+} // switchkinsSetup()